Building a 6DOF joystick

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2013-04-22 at 19:18 #5914

Anonymous
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Assembling a Rotary Stewart Platform 6DOF Joystick

2013-04-24 at 16:37 #6364

Anonymous
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Can any of you please explain Forward Kinematics to me? I need to get an understanding to finish this joystick.

Thank you!

2013-05-12 at 02:10 #6366

Anonymous
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Found a few bits for you, if they’ll help:

http://youtu.be/ABYmeZRDyYg

https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=3&sqi=2&ved=0CFEQFjAC&url=http%3A%2F%2Fciteseerx.ist.psu.edu%2Fviewdoc%2Fdownload%3Fdoi%3D10.1.1.85.4747%26rep%3Drep1%26type%3Dpdf&ei=o-eOUa6qOov5lAWdg4FQ&usg=AFQjCNGHZXSonZGma1u7olOhzkBBMGIb8g&sig2=CiKzX8ymYJq01RSSooFyyg&bvm=bv.46340616,d.dGI&cad=rja

Other than that, everything I’ve found is locked behind a paywall 😡

Would it be useful to record the values as you move the platform in known ways? Maybe you could build your equations from that. I know you’ve complicated things by using levers and arms instead of linear actuators, but maybe deriving the equations form the known movements may make it easier. (Is there software out there that is able to create formulas based on known inputs and outputs?)

2013-05-19 at 15:44 #6365

Anonymous
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Hey, thanks!

I don’t have the software in the video 🙁

The paper seems to say the same thing as most of what I’ve read – by using only math and the length of each leg you can’t find the position of the end effector because there are many valid solutions. Sometimes as many as 40 at once!

It seems like there is an opportunity for someone to make a universal joint with angle sensors built in so a computer can read the angles. That would rule out all but one case and make FK really really easy.
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